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   <div id="projectname">GSoC2011SfM
   &#160;<span id="projectnumber">0.1</span>
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   <div id="projectbrief">Google Summer of Code 2011: Structure from motion</div>
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      <li class="navelem"><b>OpencvSfM</b>      </li>
      <li class="navelem"><a class="el" href="class_opencv_sf_m_1_1_camera_pinhole.html">CameraPinhole</a>      </li>
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<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
<a href="#pro-attribs">Protected Attributes</a>  </div>
  <div class="headertitle">
<div class="title">OpencvSfM::CameraPinhole Class Reference</div>  </div>
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<!-- doxytag: class="OpencvSfM::CameraPinhole" --><!-- doxytag: inherits="OpencvSfM::Camera" -->
<p>This class represent the physical device which take the pictures. It is not related to a 3D position which is the role of the <a class="el" href="class_opencv_sf_m_1_1_point_of_view.html" title="This class represent the 3D position of the device which take the pictures. The role of the class is ...">PointOfView</a> class. The role of the class is to store only intra parameters ( without radial distortion )  
 <a href="class_opencv_sf_m_1_1_camera_pinhole.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="_camera_pinhole_8h_source.html">CameraPinhole.h</a>&gt;</code></p>
<div class="dynheader">
Inheritance diagram for OpencvSfM::CameraPinhole:</div>
<div class="dyncontent">
 <div class="center">
  <img src="class_opencv_sf_m_1_1_camera_pinhole.png" usemap="#OpencvSfM::CameraPinhole_map" alt=""/>
  <map id="OpencvSfM::CameraPinhole_map" name="OpencvSfM::CameraPinhole_map">
<area href="class_opencv_sf_m_1_1_camera.html" title="This class represent the physical device which take the pictures. It is not related to a 3D position ..." alt="OpencvSfM::Camera" shape="rect" coords="0,0,205,24"/>
<area href="class_opencv_sf_m_1_1_camera_pinhole_distor.html" title="This class represent the physical device which take the pictures. It is not related to a 3D position ..." alt="OpencvSfM::CameraPinholeDistor" shape="rect" coords="0,112,205,136"/>
</map>
 </div></div>

<p><a href="class_opencv_sf_m_1_1_camera_pinhole-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_camera_pinhole.html#a7951c403bff3a75b6a2decdfa8b685bc">CameraPinhole</a> (cv::Mat intra_params=cv::Mat::eye(3, 3, CV_64F), unsigned char wantedEstimation=FOCAL_PARAM|SKEW_PARAM|PRINCIPAL_POINT_PARAM)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_camera_pinhole.html#a942058d75d7c48a65df9a3386f5a6586">CameraPinhole</a> (const std::vector&lt; std::vector&lt; cv::Point3f &gt; &gt; &amp;objectPoints, const std::vector&lt; std::vector&lt; cv::Point2f &gt; &gt; &amp;imagePoints, cv::Size imageSize, double aspectRatio=1., unsigned char wantedEstimation=FOCAL_PARAM|SKEW_PARAM|PRINCIPAL_POINT_PARAM)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_camera_pinhole.html#aeecb985ac673ca4d8658ebdbca291dd0">updateIntrinsicMatrix</a> (cv::Mat newParams, unsigned char intraValues=FOCAL_PARAM|SKEW_PARAM|PRINCIPAL_POINT_PARAM)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual std::vector&lt; cv::Vec4d &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_camera_pinhole.html#a0eb602c19f646a074e95e81cdc5f02bb">convertFromImageTo3Dray</a> (std::vector&lt; cv::Vec3d &gt; points)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual std::vector&lt; cv::Vec2d &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_camera_pinhole.html#a7b87b0fe8e9fe28a02642c3ef0159f69">pixelToNormImageCoordinates</a> (std::vector&lt; cv::Vec2d &gt; points) const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual std::vector&lt; cv::Vec2d &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_camera_pinhole.html#a96954b793843fd8cf9a568b2c21f3a87">normImageToPixelCoordinates</a> (std::vector&lt; cv::Vec2d &gt; points) const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual cv::Mat&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_camera_pinhole.html#a46eae27e8e2d4f25f1c64fa4d2d9b1eb">getIntraMatrix</a> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_camera_pinhole.html#a281b877e525be46fa33cffceed33267b">getFocal</a> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_camera_pinhole.html#a0442e53ee1ef49653873a863e61ba8e2">write</a> (cv::FileStorage &amp;fs) const </td></tr>
<tr><td colspan="2"><h2><a name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static cv::Ptr&lt; <a class="el" href="class_opencv_sf_m_1_1_camera.html">Camera</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_camera_pinhole.html#a799aa0db013e8d1e8516157a4905c36b">read</a> (const cv::FileNode &amp;node)</td></tr>
<tr><td colspan="2"><h2><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac60a2fb4ca15534d0b361628837f9286"></a><!-- doxytag: member="OpencvSfM::CameraPinhole::intra_params_" ref="ac60a2fb4ca15534d0b361628837f9286" args="" -->
cv::Mat&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_camera_pinhole.html#ac60a2fb4ca15534d0b361628837f9286">intra_params_</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">store intra parameters( 3*3 matrix ). This matrix contains focal informations, principal point coordinates and skew of axis <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad6bf92278db0c35e220accd087a05701"></a><!-- doxytag: member="OpencvSfM::CameraPinhole::inv_intra_params_" ref="ad6bf92278db0c35e220accd087a05701" args="" -->
cv::Mat&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_camera_pinhole.html#ad6bf92278db0c35e220accd087a05701">inv_intra_params_</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">This is the inverse transformation of intra_params_. Used to speed up calculus... <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned char&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_camera_pinhole.html#a024b01688fee19c5c2d592f4060d6063">estimation_needed_</a></td></tr>
</table>
<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>This class represent the physical device which take the pictures. It is not related to a 3D position which is the role of the <a class="el" href="class_opencv_sf_m_1_1_point_of_view.html" title="This class represent the 3D position of the device which take the pictures. The role of the class is ...">PointOfView</a> class. The role of the class is to store only intra parameters ( without radial distortion ) </p>
<p>So this class is devoted to the conversion between 3D points ( using camera coordinate ) and 2D points ( using image coordinate ) using the methods convertFromImageTo3Dray or convertFrom3DToImage </p>

<p>Definition at line <a class="el" href="_camera_pinhole_8h_source.html#l00024">24</a> of file <a class="el" href="_camera_pinhole_8h_source.html">CameraPinhole.h</a>.</p>
</div><hr/><h2>Constructor &amp; Destructor Documentation</h2>
<a class="anchor" id="a7951c403bff3a75b6a2decdfa8b685bc"></a><!-- doxytag: member="OpencvSfM::CameraPinhole::CameraPinhole" ref="a7951c403bff3a75b6a2decdfa8b685bc" args="(cv::Mat intra_params=cv::Mat::eye(3, 3, CV_64F), unsigned char wantedEstimation=FOCAL_PARAM|SKEW_PARAM|PRINCIPAL_POINT_PARAM)" -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">OpencvSfM::CameraPinhole::CameraPinhole </td>
          <td>(</td>
          <td class="paramtype">cv::Mat&#160;</td>
          <td class="paramname"><em>intra_params</em> = <code>cv::Mat::eye(&#160;3,&#160;3,&#160;CV_64F&#160;)</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned char&#160;</td>
          <td class="paramname"><em>wantedEstimation</em> = <code>FOCAL_PARAM|SKEW_PARAM|PRINCIPAL_POINT_PARAM</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div>
<div class="memdoc">
<p>Constructor with ( or not ) intra parameters. </p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table class="params">
    <tr><td class="paramname">intra_params</td><td>matrix of intra parameters ( 3*3 ) </td></tr>
    <tr><td class="paramname">wantedEstimation</td><td>values which need an estimation </td></tr>
  </table>
  </dd>
</dl>

<p>Definition at line <a class="el" href="_camera_pinhole_8cpp_source.html#l00012">12</a> of file <a class="el" href="_camera_pinhole_8cpp_source.html">CameraPinhole.cpp</a>.</p>

<p>Referenced by <a class="el" href="_camera_pinhole_8cpp_source.html#l00154">read()</a>.</p>

</div>
</div>
<a class="anchor" id="a942058d75d7c48a65df9a3386f5a6586"></a><!-- doxytag: member="OpencvSfM::CameraPinhole::CameraPinhole" ref="a942058d75d7c48a65df9a3386f5a6586" args="(const std::vector&lt; std::vector&lt; cv::Point3f &gt; &gt; &amp;objectPoints, const std::vector&lt; std::vector&lt; cv::Point2f &gt; &gt; &amp;imagePoints, cv::Size imageSize, double aspectRatio=1., unsigned char wantedEstimation=FOCAL_PARAM|SKEW_PARAM|PRINCIPAL_POINT_PARAM)" -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">OpencvSfM::CameraPinhole::CameraPinhole </td>
          <td>(</td>
          <td class="paramtype">const std::vector&lt; std::vector&lt; cv::Point3f &gt; &gt; &amp;&#160;</td>
          <td class="paramname"><em>objectPoints</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const std::vector&lt; std::vector&lt; cv::Point2f &gt; &gt; &amp;&#160;</td>
          <td class="paramname"><em>imagePoints</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">cv::Size&#160;</td>
          <td class="paramname"><em>imageSize</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>aspectRatio</em> = <code>1.</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned char&#160;</td>
          <td class="paramname"><em>wantedEstimation</em> = <code>FOCAL_PARAM|SKEW_PARAM|PRINCIPAL_POINT_PARAM</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div>
<div class="memdoc">
<p>Constructor where initial camera matrix is computed from the 3D-2D point correspondences. Currently, the function only supports planar calibration patterns, i.e. patterns where each object point has z-coordinate =0. </p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table class="params">
    <tr><td class="paramname">objectPoints</td><td>The vector of vectors of the object points. See <a href="http://opencv.willowgarage.com/documentation/cpp/calib3d_camera_calibration_and_3d_reconstruction.html#cv-calibratecamera">http://opencv.willowgarage.com/documentation/cpp/calib3d_camera_calibration_and_3d_reconstruction.html#cv-calibratecamera</a> </td></tr>
    <tr><td class="paramname">imagePoints</td><td>The vector of vectors of the corresponding image points. See <a href="http://opencv.willowgarage.com/documentation/cpp/calib3d_camera_calibration_and_3d_reconstruction.html#cv-calibratecamera">http://opencv.willowgarage.com/documentation/cpp/calib3d_camera_calibration_and_3d_reconstruction.html#cv-calibratecamera</a> </td></tr>
    <tr><td class="paramname">imageSize</td><td>The image size in pixels; used to initialize the principal point </td></tr>
    <tr><td class="paramname">aspectRatio</td><td>If it is zero or negative, both <img class="formulaInl" alt="$f_x$" src="form_7.png"/> and <img class="formulaInl" alt="$f_y$" src="form_8.png"/> are estimated independently. Otherwise <img class="formulaInl" alt="$f_x=f_y * aspectRatio$" src="form_9.png"/> </td></tr>
    <tr><td class="paramname">wantedEstimation</td><td>values which need an estimation </td></tr>
  </table>
  </dd>
</dl>

<p>Definition at line <a class="el" href="_camera_pinhole_8cpp_source.html#l00021">21</a> of file <a class="el" href="_camera_pinhole_8cpp_source.html">CameraPinhole.cpp</a>.</p>

</div>
</div>
<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a0eb602c19f646a074e95e81cdc5f02bb"></a><!-- doxytag: member="OpencvSfM::CameraPinhole::convertFromImageTo3Dray" ref="a0eb602c19f646a074e95e81cdc5f02bb" args="(std::vector&lt; cv::Vec3d &gt; points)" -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
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          <td class="memname">vector&lt; Vec4d &gt; OpencvSfM::CameraPinhole::convertFromImageTo3Dray </td>
          <td>(</td>
          <td class="paramtype">std::vector&lt; cv::Vec3d &gt;&#160;</td>
          <td class="paramname"><em>points</em></td><td>)</td>
          <td><code> [virtual]</code></td>
        </tr>
      </table>
</div>
<div class="memdoc">
<p>This method can transform points from image to 3D rays </p>

<p>Implements <a class="el" href="class_opencv_sf_m_1_1_camera.html#aa1b338f09e0139185d71bf82e1807cb7">OpencvSfM::Camera</a>.</p>

<p>Reimplemented in <a class="el" href="class_opencv_sf_m_1_1_camera_pinhole_distor.html#ad78028097b1c964cba435fd6a5728e8b">OpencvSfM::CameraPinholeDistor</a>.</p>

<p>Definition at line <a class="el" href="_camera_pinhole_8cpp_source.html#l00067">67</a> of file <a class="el" href="_camera_pinhole_8cpp_source.html">CameraPinhole.cpp</a>.</p>

</div>
</div>
<a class="anchor" id="a281b877e525be46fa33cffceed33267b"></a><!-- doxytag: member="OpencvSfM::CameraPinhole::getFocal" ref="a281b877e525be46fa33cffceed33267b" args="() const " -->
<div class="memitem">
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          <td class="memname">double OpencvSfM::CameraPinhole::getFocal </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const<code> [virtual]</code></td>
        </tr>
      </table>
</div>
<div class="memdoc">
<p>This method retrive the focal from Intrinsic matrix. It's not using pixel reference but using camera reference! </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>focal lenght </dd></dl>

<p>Implements <a class="el" href="class_opencv_sf_m_1_1_camera.html#a8cc79b0518b797715f7a3e7df92aa4bf">OpencvSfM::Camera</a>.</p>

<p>Definition at line <a class="el" href="_camera_pinhole_8cpp_source.html#l00122">122</a> of file <a class="el" href="_camera_pinhole_8cpp_source.html">CameraPinhole.cpp</a>.</p>

</div>
</div>
<a class="anchor" id="a46eae27e8e2d4f25f1c64fa4d2d9b1eb"></a><!-- doxytag: member="OpencvSfM::CameraPinhole::getIntraMatrix" ref="a46eae27e8e2d4f25f1c64fa4d2d9b1eb" args="() const " -->
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          <td class="memname">virtual cv::Mat OpencvSfM::CameraPinhole::getIntraMatrix </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const<code> [inline, virtual]</code></td>
        </tr>
      </table>
</div>
<div class="memdoc">
<p>This method return the intra parameters of the camera </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>Matrix K of intra parameters </dd></dl>

<p>Reimplemented from <a class="el" href="class_opencv_sf_m_1_1_camera.html#acdd426e220facad4396da7f09494b406">OpencvSfM::Camera</a>.</p>

<p>Definition at line <a class="el" href="_camera_pinhole_8h_source.html#l00082">82</a> of file <a class="el" href="_camera_pinhole_8h_source.html">CameraPinhole.h</a>.</p>

<p>Referenced by <a class="el" href="_camera_pinhole_distor_8cpp_source.html#l00126">OpencvSfM::CameraPinholeDistor::read()</a>.</p>

</div>
</div>
<a class="anchor" id="a96954b793843fd8cf9a568b2c21f3a87"></a><!-- doxytag: member="OpencvSfM::CameraPinhole::normImageToPixelCoordinates" ref="a96954b793843fd8cf9a568b2c21f3a87" args="(std::vector&lt; cv::Vec2d &gt; points) const " -->
<div class="memitem">
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          <td class="memname">vector&lt; Vec2d &gt; OpencvSfM::CameraPinhole::normImageToPixelCoordinates </td>
          <td>(</td>
          <td class="paramtype">std::vector&lt; cv::Vec2d &gt;&#160;</td>
          <td class="paramname"><em>points</em></td><td>)</td>
          <td> const<code> [virtual]</code></td>
        </tr>
      </table>
</div>
<div class="memdoc">
<p>This method can convert 2D points from normalized image coordinates to 2D points in pixel image coordinates </p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table class="params">
    <tr><td class="paramname">points</td><td>2D points in normalized image homogeneous coordinates. </td></tr>
  </table>
  </dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>2D points in pixel image coordinates. </dd></dl>

<p>Implements <a class="el" href="class_opencv_sf_m_1_1_camera.html#a5eb19d3cf32190594b62d04d665812e5">OpencvSfM::Camera</a>.</p>

<p>Reimplemented in <a class="el" href="class_opencv_sf_m_1_1_camera_pinhole_distor.html#ab2ef67d6d89fc008c5716c7f7a25d012">OpencvSfM::CameraPinholeDistor</a>.</p>

<p>Definition at line <a class="el" href="_camera_pinhole_8cpp_source.html#l00103">103</a> of file <a class="el" href="_camera_pinhole_8cpp_source.html">CameraPinhole.cpp</a>.</p>

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<a class="anchor" id="a7b87b0fe8e9fe28a02642c3ef0159f69"></a><!-- doxytag: member="OpencvSfM::CameraPinhole::pixelToNormImageCoordinates" ref="a7b87b0fe8e9fe28a02642c3ef0159f69" args="(std::vector&lt; cv::Vec2d &gt; points) const " -->
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          <td class="memname">vector&lt; Vec2d &gt; OpencvSfM::CameraPinhole::pixelToNormImageCoordinates </td>
          <td>(</td>
          <td class="paramtype">std::vector&lt; cv::Vec2d &gt;&#160;</td>
          <td class="paramname"><em>points</em></td><td>)</td>
          <td> const<code> [virtual]</code></td>
        </tr>
      </table>
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<p>This method can convert 2D points from pixel image coordinates to 2D points in normalized image coordinates </p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table class="params">
    <tr><td class="paramname">points</td><td>2D points in pixel image homogeneous coordinates. </td></tr>
  </table>
  </dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>2D points in normalized image homogeneous coordinates. </dd></dl>

<p>Implements <a class="el" href="class_opencv_sf_m_1_1_camera.html#a14bc13f78187173edfbe69f8aad7ccd1">OpencvSfM::Camera</a>.</p>

<p>Reimplemented in <a class="el" href="class_opencv_sf_m_1_1_camera_pinhole_distor.html#a4599ad282967c60bc4e3046067202b56">OpencvSfM::CameraPinholeDistor</a>.</p>

<p>Definition at line <a class="el" href="_camera_pinhole_8cpp_source.html#l00073">73</a> of file <a class="el" href="_camera_pinhole_8cpp_source.html">CameraPinhole.cpp</a>.</p>

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<a class="anchor" id="a799aa0db013e8d1e8516157a4905c36b"></a><!-- doxytag: member="OpencvSfM::CameraPinhole::read" ref="a799aa0db013e8d1e8516157a4905c36b" args="(const cv::FileNode &amp;node)" -->
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          <td class="memname">cv::Ptr&lt; <a class="el" href="class_opencv_sf_m_1_1_camera.html">Camera</a> &gt; OpencvSfM::CameraPinhole::read </td>
          <td>(</td>
          <td class="paramtype">const cv::FileNode &amp;&#160;</td>
          <td class="paramname"><em>node</em></td><td>)</td>
          <td><code> [static]</code></td>
        </tr>
      </table>
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<p>Create a new camera from a YAML file. </p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table class="params">
    <tr><td class="paramname">node</td><td>Previously opened YAML file node </td></tr>
  </table>
  </dd>
</dl>

<p>Reimplemented from <a class="el" href="class_opencv_sf_m_1_1_camera.html#aa8cf6c4e78c51a9e045913534bbd5a4e">OpencvSfM::Camera</a>.</p>

<p>Reimplemented in <a class="el" href="class_opencv_sf_m_1_1_camera_pinhole_distor.html#a449b7e76f4e82b50b38f01457fdfa77b">OpencvSfM::CameraPinholeDistor</a>.</p>

<p>Definition at line <a class="el" href="_camera_pinhole_8cpp_source.html#l00154">154</a> of file <a class="el" href="_camera_pinhole_8cpp_source.html">CameraPinhole.cpp</a>.</p>

<p>Referenced by <a class="el" href="_point_of_view_8cpp_source.html#l00233">OpencvSfM::PointOfView::read()</a>.</p>

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<a class="anchor" id="aeecb985ac673ca4d8658ebdbca291dd0"></a><!-- doxytag: member="OpencvSfM::CameraPinhole::updateIntrinsicMatrix" ref="aeecb985ac673ca4d8658ebdbca291dd0" args="(cv::Mat newParams, unsigned char intraValues=FOCAL_PARAM|SKEW_PARAM|PRINCIPAL_POINT_PARAM)" -->
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          <td class="memname">void OpencvSfM::CameraPinhole::updateIntrinsicMatrix </td>
          <td>(</td>
          <td class="paramtype">cv::Mat&#160;</td>
          <td class="paramname"><em>newParams</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned char&#160;</td>
          <td class="paramname"><em>intraValues</em> = <code>FOCAL_PARAM|SKEW_PARAM|PRINCIPAL_POINT_PARAM</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
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<p>this method can be used to update the intra parameters. </p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table class="params">
    <tr><td class="paramname">newParams</td><td>matrix of new parameters ( 3*3 ) </td></tr>
    <tr><td class="paramname">intraValues</td><td>values which are useful in matrix </td></tr>
  </table>
  </dd>
</dl>

<p>Definition at line <a class="el" href="_camera_pinhole_8cpp_source.html#l00036">36</a> of file <a class="el" href="_camera_pinhole_8cpp_source.html">CameraPinhole.cpp</a>.</p>

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<a class="anchor" id="a0442e53ee1ef49653873a863e61ba8e2"></a><!-- doxytag: member="OpencvSfM::CameraPinhole::write" ref="a0442e53ee1ef49653873a863e61ba8e2" args="(cv::FileStorage &amp;fs) const " -->
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          <td class="memname">void OpencvSfM::CameraPinhole::write </td>
          <td>(</td>
          <td class="paramtype">cv::FileStorage &amp;&#160;</td>
          <td class="paramname"><em>fs</em></td><td>)</td>
          <td> const<code> [virtual]</code></td>
        </tr>
      </table>
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<p>Save the camera intra parameters into a YAML file. </p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table class="params">
    <tr><td class="paramname">fs</td><td>Previously opened YAML file node </td></tr>
  </table>
  </dd>
</dl>

<p>Implements <a class="el" href="class_opencv_sf_m_1_1_camera.html#ade222f777665c63ebcf911b357667612">OpencvSfM::Camera</a>.</p>

<p>Reimplemented in <a class="el" href="class_opencv_sf_m_1_1_camera_pinhole_distor.html#a7a481f4ed67f33cc50369729fdf87f84">OpencvSfM::CameraPinholeDistor</a>.</p>

<p>Definition at line <a class="el" href="_camera_pinhole_8cpp_source.html#l00174">174</a> of file <a class="el" href="_camera_pinhole_8cpp_source.html">CameraPinhole.cpp</a>.</p>

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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a024b01688fee19c5c2d592f4060d6063"></a><!-- doxytag: member="OpencvSfM::CameraPinhole::estimation_needed_" ref="a024b01688fee19c5c2d592f4060d6063" args="" -->
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          <td class="memname">unsigned char <a class="el" href="class_opencv_sf_m_1_1_camera_pinhole.html#a024b01688fee19c5c2d592f4060d6063">OpencvSfM::CameraPinhole::estimation_needed_</a><code> [protected]</code></td>
        </tr>
      </table>
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<div class="memdoc">
<p>This attribut is used to know what we should estimate... Example: if equal to 0, nothing should be estimated... If equal to 3, focal and skew should be estimated ( FOCAL_PARAM + SKEW_PARAM ) </p>

<p>Definition at line <a class="el" href="_camera_pinhole_8h_source.html#l00034">34</a> of file <a class="el" href="_camera_pinhole_8h_source.html">CameraPinhole.h</a>.</p>

<p>Referenced by <a class="el" href="_camera_pinhole_8cpp_source.html#l00012">CameraPinhole()</a>, <a class="el" href="_camera_pinhole_distor_8cpp_source.html#l00035">OpencvSfM::CameraPinholeDistor::updateDistortionParameters()</a>, and <a class="el" href="_camera_pinhole_8cpp_source.html#l00174">write()</a>.</p>

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<hr/>The documentation for this class was generated from the following files:<ul>
<li>D:/Travail/These/Determination caracteristiques camera/GSoC/SfM/src/<a class="el" href="_camera_pinhole_8h_source.html">CameraPinhole.h</a></li>
<li>D:/Travail/These/Determination caracteristiques camera/GSoC/SfM/src/<a class="el" href="_camera_pinhole_8cpp_source.html">CameraPinhole.cpp</a></li>
</ul>
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